CN1211590C - Vacuum adsorber capable of arbitrarily fixing rotot position - Google Patents
Vacuum adsorber capable of arbitrarily fixing rotot position Download PDFInfo
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- CN1211590C CN1211590C CN 03119500 CN03119500A CN1211590C CN 1211590 C CN1211590 C CN 1211590C CN 03119500 CN03119500 CN 03119500 CN 03119500 A CN03119500 A CN 03119500A CN 1211590 C CN1211590 C CN 1211590C
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Abstract
The present invention relates to a vacuum adsorption installation using the principle of vacuum generating negative pressure to realize the arbitrary position fixation of a robot. The present invention belongs to the technical field of robots. The the prior art which adopts a movable slideway or a wheel mechanism can not realize the fixation at an arbitrary position or in arbitrary direction in a two-dimensional plane and has defects of inflexible performance, high cost and complicated operation. The present invention puts forward the following technical scheme that a robot is fixed on a base of a magnetic chuck; the base of a magnetic chuck is placed on a platform; a vacuum chamber which is communicated with a vacuum pump is arranged in the base of a magnetic chuck; the vacuum chamber is sealed by seal rings; a freely extending and sliding wheel which can arbitrarily move a robot on the platform is arranged on the base of a magnetic chuck; the vacuum pump is started to vacuumize the vacuum chamber, and the robot is fixed in a predefined position by using of vacuum adsorption affinity. The present invention has the advantages of realization of the fixation of a robot in an arbitrary position and direction in the two-dimensional plane, simple structure, low cost, convenient operation, high positioning accuracy and easy popularization.
Description
Technical field
The present invention relates to a kind of device of stationary machines people (hand) position, particularly relate to a kind of negative pressure of utilizing vacuum to produce and realize the device of any stationary machines people position, belong to the Robotics field.
Background technique
Along with the continuous development of technology and the keen competition in market, enterprise is to raising labour productivity, reduce production costs, the requirement that improves machining accuracy is more and more urgent, especially the development that is accompanied by flexible manufacturing technology and system is perfect, the industrial robot operator has obtained very using widely in the processing industry of technology-intensive type, as automobile, microelectronic, electrical equipment manufacturing, medical treatment, exploration, cleaning etc.Robot manipulator generally need be fixed on the platform static or that move in use.At present, the mounting type of domestic robot manipulator mainly comprises three classes: the first, adopt Bolt Connection, riveted or alternate manner, be fixed on the stabilised platform, as various flexible machining production line manipulators permanent or semipermanently; The second, robot manipulator is fixed on one movably on the platform, on mechanical mobile device or transportable dolly; That three, adopts that vacuum adsorption principle is connected with fixed surface climbs the wall cleaning robot.In preceding dual mode, robot manipulator adopts permanent or semipermanent mode to be connected with platform.The manipulator base can not be moved on working platform in the mode one, has limited the sphere of activities and the working space of operator; In the mode two, though the mobile platform that operator connected can move, the manufacture cost of this mobile platform is very high, and because shifter is subjected to the binding character (stops limit or track constraint) of environment, make its moving range that the dead band all be arranged, thereby the plane mobile behavior is limited.In mode three, robot adopts a plurality of adsorbent equipments, its adsorbent equipment alternation, and with the mutual cooperation of traveling gear, main purpose is to finish mobile, the of short duration fixing and cleaning process of robot.This robot needs the vacuum pump continuous running at work, could keep the adsorption force with surface of contact, because the more increase that brings manufacture cost and user cost of adsorbent equipment is not suitable for the application of industrial robot operator workplace.
Summary of the invention
In robot manipulator open architecture test environment and industrial flexible manufacturing system, it is able to programme to adapt to different operation needs that the flexibility of industrial robot operator is mainly reflected in its operating type, in addition, the flexibility of its means of fixation and arbitrariness also are very important aspects, can adapt to various experiment purpose and industrial processing request complicated and changeable.The main problem that exists in industrial robot operator fixed system is, can not realize based on the two dimensional surface arbitrary position, install and fix flexibly cheaply.Existing movably fixing device mostly is to adopt removable slideway or wheeled mechanism, this mode is in use owing to be subjected to the restriction of mechanism itself or the constraint of environment, can not be implemented in the arbitrary position and the fixing purpose of the enterprising line operate arm device of direction of two dimensional surface, use also dumbly, and its manufacture cost and complicated operation degree are all higher.For this reason, but we have invented a kind of vacuum robot adsorbent equipment of fixing based on the arbitrary position of industry manufacturing and open architecture test environment, can overcome the above-mentioned deficiency of conventional machines hand means of fixation.Its technological scheme is: it adopts vacuum adsorption principle, robot is fixed on the suction cup base, suction cup base places on the rigid platfor through polishing processing, one rigidity vacuum chamber is set in the suction cup base, and it communicates with vacuum pump, and vacuum chamber has the seal ring sealing, the wheel that has four retractables to slide on the suction cup base, can be on rigid platfor movable robot's position arbitrarily, start the vacuum of vacuum pump evacuated chamber, utilize vacuum adsorption force that robot is fixed on the precalculated position.
Beneficial effect of the present invention: this technology can realize robot manipulator at an arbitrary position with any direction on fixing, increased three degree of freedom X, Y and RZ for equivalently the industrial robot operator; Simple in structure, with low cost, easy to operate, Location accuracy is high, and has safety protection device, be easy to promote the use of; Can not bring in the use and destroy and harmful effect, can substitute the robot fixed mechanism under existing open architecture test environment or the industrial environment fully to environment.
Description of drawings
Fig. 1: robotic vacuum adsorbent equipment structural representation
Fig. 2: robotic vacuum adsorbent equipment assist location bolt and platform move the wheel schematic representation
Among the figure 1, vacuum pump 2, O RunddichtringO 3, vacuum chamber 4, robot body 5, suction cup base 6, rigid platfor 7, assist location bolt 8, platform move wheel
Embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention is elaborated.Fig. 1 is a robotic vacuum adsorbent equipment structural representation.Robot body 4 is installed on the special suction cup base 5, suction cup base has rigidity vacuum chamber 3, it communicates with vacuum pump, vacuum chamber has two O RunddichtringOs, and suction cup base can utilize the four wheels 8 that is installed in the sucker footing to move on a rigid platfor 6 smooth, that have scale.During work, determined the robot mounting point, regained the four wheels 8 of footing then, installed assist location bolt 7, opened vacuum pump 1, system just enters working state.Because the superperformance of suction cup base O type sealing system, vacuum pump just can stop through tens seconds work.The adsorption force of this posterior sucker can be kept for a long time.Facts have proved that this robotic vacuum absorption erecting device work is good.
Claims (2)
1, the vacuum absorption device of a kind of stationary machines people arbitrarily position, it is characterized in that: robot body (4) is fixed on the suction cup base (5), suction cup base places on the rigid platfor (6) through polishing processing, have scale on it, one rigidity vacuum chamber (3) is set in the suction cup base, it communicates with vacuum pump (1), and vacuum chamber has two O RunddichtringOs (2) double-layer seal.
2, the vacuum absorption device of stationary machines people arbitrarily according to claim 1 position is characterized in that: the wheel (8) that has 4 retractables to slide on the described suction cup base also has 4 assist location protection bolts (7); By means of the scale on they and the rigid platfor, vacuum absorption device just can accurately be located.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03119500 CN1211590C (en) | 2003-03-14 | 2003-03-14 | Vacuum adsorber capable of arbitrarily fixing rotot position |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03119500 CN1211590C (en) | 2003-03-14 | 2003-03-14 | Vacuum adsorber capable of arbitrarily fixing rotot position |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1434221A CN1434221A (en) | 2003-08-06 |
| CN1211590C true CN1211590C (en) | 2005-07-20 |
Family
ID=27634519
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03119500 Expired - Fee Related CN1211590C (en) | 2003-03-14 | 2003-03-14 | Vacuum adsorber capable of arbitrarily fixing rotot position |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1211590C (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100422029C (en) * | 2006-11-27 | 2008-10-01 | 哈尔滨工业大学 | Small-sized wall-climbing robot based on negative pressure absorption principle |
| CN101436061B (en) * | 2008-12-12 | 2010-08-25 | 南开大学 | Competing type network robot chess-playing system |
| CN104908062B (en) * | 2015-06-09 | 2017-04-05 | 中国石油大学(华东) | Moveable industrial robot fixing device |
| CN108263573A (en) * | 2016-12-30 | 2018-07-10 | 核动力运行研究所 | A kind of nuclear power plant's sucked type float assembly |
-
2003
- 2003-03-14 CN CN 03119500 patent/CN1211590C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN1434221A (en) | 2003-08-06 |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |